using Aitex.Core.RT.Fsm;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Venus_Core;
using Venus_RT.Devices;

namespace Venus_RT.Modules.TM.VenusEntity
{
    public class SETMEntity : Entity, IModuleEntity
    {
        public enum STATE
        {
            Unknown,
            Init,
            Initializing,
            InitializingRB,
            Idle,
            Error,
            Pumping,
            Venting,
            Purging,
            Leakchecking,
            Picking,
            Placing,
            Swaping,
            PMPicking,
            PMPlacing,
            PMSwaping,
            Aligning,
            Mapping,
            Extending,
            Retracting,
            Swapping,
            Gotoing,
            ControllingPressure
        }

        public enum MSG
        {
            Home,
            RobotHome,
            Online,
            Offline,
            Pump,
            Vent,
            Purge,
            CyclePurge,
            LeakCheck,
            Pick,
            Place,
            Swap,
            DoublePick,
            DoublePlace,
            DoubleSwap,
            PMPick,
            PMPlace,
            PMSwap,
            Extend,
            Retract,
            TMCycle,
            ControlPressure,
            Error,
            Abort,
            AbortControlPressure
        }

        public bool IsIdle
        {
            get { return fsm.State == (int)STATE.Idle; }
        }

        public bool IsError
        {
            get { return fsm.State == (int)STATE.Error; }
        }

        public bool IsInit
        {
            get { return fsm.State == (int)STATE.Unknown || fsm.State == (int)STATE.Init; }
        }

        public bool IsBusy
        {
            get { return !IsInit && !IsError && !IsIdle; }
        }

        public RState RobotStatus
        {
            get
            {
                if (_robot.Status != RState.Running)
                {
                    if (_robotWatch.ElapsedMilliseconds < 100)
                        return RState.Running;
                    else
                        return _robot.Status;
                }
                else
                    return RState.Running;
            }
        }
        private readonly ITransferRobot _robot;
        private readonly Stopwatch _robotWatch;

        public SETMEntity()
        {

        }



        public bool Check(int msg, out string reason, params object[] args)
        {
            throw new NotImplementedException();
        }

        public bool CheckAcked(int msg)
        {
            throw new NotImplementedException();
        }


        public int Invoke(string function, params object[] args)
        {
            throw new NotImplementedException();
        }
    }
}